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Non-hierarchical UAV formation control for surveillance tasks

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dc.contributor.authorVan der Walle, Dirk
dc.contributor.authorFidan, Baris
dc.contributor.authorSutton, Andrew
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorAnderson, Brian
dc.coverage.spatialSeattle USA
dc.date.accessioned2015-12-07T22:25:41Z
dc.date.createdJune 11-13 2008
dc.date.issued2008
dc.date.updated2015-12-07T09:39:53Z
dc.description.abstractIn this paper, we consider motion and formation control of a team of three unmanned aerial vehicles (UAVs) for a particular surveillance task. The UAVs are required to fly in an equilateral triangle formation (to optimize target location estimation accuracy), with the centre of mass following a nominated (spiral) trajectory, which reflects the constraints on the turning radius of the flight paths. Furthermore, the UAVs need to fly at constant and nearly (but not necessarily exactly) the same speeds. A decentralized control scheme is designed and analyzed for the above motion and formation control tasks, based on a non-hierarchical (i.e. three-coleader) sensing/control structure.
dc.identifier.isbn9781424420797
dc.identifier.urihttp://hdl.handle.net/1885/21413
dc.publisherInternational Federation of Automatic Control (IFAC)
dc.relation.ispartofseriesAmerican Control Conference 2008
dc.sourceProceedings of the American Control Conference 2008
dc.source.urihttps://css.paperplaza.net/conferences/conferences/2008ACC/program/
dc.subjectKeywords: Unmanned vehicles; Centre-of-mass; Control schemes; Equilateral triangles; Flight paths; Formation control; Surveillance tasks; Target location estimation; Turning radius; Unmanned aerial vehicles; Unmanned aerial vehicles (UAV)
dc.titleNon-hierarchical UAV formation control for surveillance tasks
dc.typeConference paper
local.bibliographicCitation.lastpage782
local.bibliographicCitation.startpage777
local.contributor.affiliationVan der Walle, Dirk, Delft University of Technology
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.contributor.affiliationSutton, Andrew, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.authoruidFidan, Baris, a195357
local.contributor.authoruidSutton, Andrew, u2548624
local.contributor.authoruidYu, Changbin (Brad), u4168516
local.contributor.authoruidAnderson, Brian, u8104642
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091302 - Automation and Control Engineering
local.identifier.ariespublicationu2505865xPUB17
local.identifier.doi10.1109/ACC.2008.4586587
local.identifier.scopusID2-s2.0-52449090059
local.identifier.thomsonID000259261500132
local.type.statusPublished Version

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